A Real-time Computer Vision Platform for Mobile Robot Applications

Szabó, S.; Coombs, David; Herman, Martin; Camus, T.; Liu, Hongche

doi:10.1006/rtim.1996.0032

Cited by 6 publications

(1 citation statement)

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“…These methods, in some ways, emulate corridor following behaviour; nevertheless, their main disadvantage is the need to employ more than one camera. Alternatively, a number of studies relying on monocular vision have proposed the employment of optical flow techniques for mobile robot navigation [2,4,10,11].…”

Section: Literature Surveymentioning

confidence: 99%

A Hybrid Architecture for Vision-Based Obstacle Avoidance

Güzel

Zakaria

2013

Advances in Mechanical Engineering

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This paper proposes a new obstacle avoidance method using a single monocular vision camera as the only sensor which is called as Hybrid Architecture. This architecture integrates a high performance appearance-based obstacle detection method into an optical flow-based navigation system. The hybrid architecture was designed and implemented to run both methods simultaneously and is able to combine the results of each method using a novel arbitration mechanism. The proposed strategy successfully fused two different vision-based obstacle avoidance methods using this arbitration mechanism in order to permit a safer obstacle avoidance system. Accordingly, to establish the adequacy of the design of the obstacle avoidance system, a series of experiments were conducted. The results demonstrate the characteristics of the proposed architecture, and the results prove that its performance is somewhat better than the conventional optical flow-based architecture. Especially, the robot employing Hybrid Architecture avoids lateral obstacles in a more smooth and robust manner than when using the conventional optical flow-based technique.

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Section: Literature Surveymentioning

confidence: 99%